ros 自定义action

原文链接: ros 自定义action

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完整版，包括了取消等操作

https://github.com/NickKnack15/python-actionlib-demo

项目结构

package

<?xml version="1.0"?>
<package>
  <name>actionlib_tutorials</name>
  <version>0.1.8</version>
  <description>The actionlib_tutorials package</description>
  <maintainer email="d.stonier@gmail.com">Daniel Stonier</maintainer>
  <license>BSD</license>


  <author>Melonee Wise</author>

  <buildtool_depend>catkin</buildtool_depend>

  <build_depend>roscpp</build_depend>
  <build_depend>actionlib</build_depend>
  <build_depend>message_generation</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_depend>actionlib_msgs</build_depend>

  <run_depend>roscpp</run_depend>
  <run_depend>actionlib</run_depend>
  <run_depend>message_runtime</run_depend>

</package>

cmake

cmake_minimum_required(VERSION 2.8.3)
project(actionlib_tutorials)

## Find catkin dependencies
find_package(catkin REQUIRED COMPONENTS actionlib message_generation)

## Find Boost
find_package(Boost REQUIRED COMPONENTS system thread)

## Add actions
add_action_files(DIRECTORY action FILES Fibonacci.action Fib.action)

## Generate messages
generate_messages(DEPENDENCIES std_msgs actionlib_msgs)

## Define catkin exports
catkin_package(
  CATKIN_DEPENDS roscpp actionlib
  DEPENDS Boost
)

## Setup include dirs
include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})

## Install scripts and executables
install(PROGRAMS
  scripts/fibonacci_client.py
  scripts/fibonacci_server.py
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

action，在不同的域中可以有相同的名字

#goal definition
int32 order
---
#result definition
int32[] sequence
---
#feedback
int32[] sequence

client

#! /usr/bin/env python

import rospy
# Brings in the SimpleActionClient
import actionlib
import time
# Brings in the messages used by the fibonacci action, including the
# goal message and the result message.
import actionlib_tutorials.msg
def cb(fb):
    print('cb ',fb)
def fibonacci_client():
    # Creates the SimpleActionClient, passing the type of the action
    # (FibonacciAction) to the constructor.
    client = actionlib.SimpleActionClient('fibonacci', actionlib_tutorials.msg.FibonacciAction)

    # Waits until the action server has started up and started
    # listening for goals.
    client.wait_for_server()

    # Creates a goal to send to the action server.
    goal = actionlib_tutorials.msg.FibonacciGoal(order=10)

    # Sends the goal to the action server.
    client.send_goal(goal)
    client.feedback_cb = cb # 发送后设置回调函数

    print('send ')

    # Waits for the server to finish performing the action.
    client.wait_for_result()

  
    print('wait')
    # Prints out the result of executing the action
    return client.get_result()  # A FibonacciResult

if __name__ == '__main__':
    try:
        # Initializes a rospy node so that the SimpleActionClient can
        # publish and subscribe over ROS.
        rospy.init_node('fibonacci_client_py')
        result = fibonacci_client()
        print("Result:", ', '.join([str(n) for n in result.sequence]))
    except rospy.ROSInterruptException:
        print("program interrupted before completion")

server

#! /usr/bin/env python

import rospy

import actionlib

import actionlib_tutorials.msg

class FibonacciAction(object):
    # create messages that are used to publish feedback/result
    _feedback = actionlib_tutorials.msg.FibonacciFeedback()
    _result = actionlib_tutorials.msg.FibonacciResult()

    def __init__(self, name):
        self._action_name = name
        self._as = actionlib.SimpleActionServer(self._action_name, actionlib_tutorials.msg.FibonacciAction, execute_cb=self.execute_cb, auto_start = False)
        self._as.start()
      
    def execute_cb(self, goal):
        # helper variables
        r = rospy.Rate(1)
        success = True
        
        # append the seeds for the fibonacci sequence
        self._feedback.sequence = []
        self._feedback.sequence.append(0)
        self._feedback.sequence.append(1)
        
        # publish info to the console for the user
        rospy.loginfo('%s: Executing, creating fibonacci sequence of order %i with seeds %i, %i' % (self._action_name, goal.order, self._feedback.sequence[0], self._feedback.sequence[1]))
        
        # start executing the action
        for i in range(1, goal.order):
            # check that preempt has not been requested by the client
            if self._as.is_preempt_requested():
                rospy.loginfo('%s: Preempted' % self._action_name)
                self._as.set_preempted()
                success = False
                break
            self._feedback.sequence.append(self._feedback.sequence[i] + self._feedback.sequence[i-1])
            # publish the feedback
            self._as.publish_feedback(self._feedback)
            # this step is not necessary, the sequence is computed at 1 Hz for demonstration purposes
            r.sleep()
          
        if success:
            self._result.sequence = self._feedback.sequence
            rospy.loginfo('%s: Succeeded' % self._action_name)
            self._as.set_succeeded(self._result)
        
if __name__ == '__main__':
    rospy.init_node('fibonacci')
    server = FibonacciAction(rospy.get_name())
    rospy.spin()

运行

roscore

rosrun actionlib_tutorials fibonacci_client.py

rosrun actionlib_tutorials fibonacci_server.py

可以看到wait_for_result后会等待直到服务端执行完毕，发送goal后设置回调函数可以获取服务端发送过来的feedback